Title :
Performance evaluation criteria for analysis and design of robotic specimens
Author :
Gao, Feng ; Gruver, William A.
Author_Institution :
Intelligent Robotics & Manuf. Syst. Lab., Simon Fraser Univ., Burnaby, BC, Canada
Abstract :
In this research we develop criteria for analyzing robotic mechanisms based on workspace geometry, singularities, and indices for global conditioning, global velocity, global payload, global deformation and global errors. These criteria provide a basis for performance evaluation and optimal design
Keywords :
deformation; error analysis; manipulator dynamics; manipulator kinematics; performance index; dynamics; global conditioning; global deformation; global errors; global payload; global velocity; kinematics; manipulators; performance evaluation; robotic mechanisms; singularities; workspace geometry; Angular velocity; Computational geometry; Controllability; Design engineering; Intelligent robots; Kinematics; Laboratories; Manufacturing systems; Payloads; Performance analysis;
Conference_Titel :
Advanced Robotics, 1997. ICAR '97. Proceedings., 8th International Conference on
Conference_Location :
Monterey, CA
Print_ISBN :
0-7803-4160-0
DOI :
10.1109/ICAR.1997.620285
